Universal Micro Robot Chassis (dirt-cheap)
thingiverse
This project takes advantage of affordable planetary gear motors found on eBay (http://www.ebay.de/itm/361082979291?_trksid=p2060778.m2749.l2649&ssPageName=STRK%3AMEBIDX%3AIT). These motors cost under a dollar, allowing the use of 3D printing technology to create custom wheels and chassis for a fraction of the cost. A single Turnigy Nano Tech 170mAh Lipo cell is also easily sourced, making it simple to experiment with small robot swarms or build a single robot at minimal expense. To increase efficiency, I plan to boost the battery voltage to 5V using an L293D dual H-bridge to power the motors. The Atmega 328p w/ Arduino bootloader microcontroller provides versatility, but can be replaced if desired. With M3 tapped holes for easy attachment of PCBs and sensors, there are endless possibilities for customization. To enhance traction, O-rings with a thickness of about 3mm can be placed on the 40mm wheels, utilizing the oval cutouts to detect changes in reflectance using sensor-equipped encoders to measure distance traveled. For a low-cost ball caster option, consider purchasing one from WaterWott.com (http://www.watterott.com/de/Ersatz-Ball-Caster-mit-127mm-Kunstoffkugell-3pi) or designing your own to superglue to the chassis base.
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